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README.md

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+---
+library_name: lerobot
+tags:
+- act
+- model_hub_mixin
+- pytorch_model_hub_mixin
+- robotics
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: https://github.com/huggingface/lerobot
+- Docs: [More Information Needed]

config.json

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+{
+  "chunk_size": 20,
+  "dim_feedforward": 3200,
+  "dim_model": 512,
+  "dropout": 0.1,
+  "feedforward_activation": "relu",
+  "input_normalization_modes": {
+    "observation.images.agentview": "mean_std",
+    "observation.images.robot0_eye_in_hand": "mean_std",
+    "observation.state": "mean_std"
+  },
+  "input_shapes": {
+    "observation.images.agentview": [
+      3,
+      256,
+      256
+    ],
+    "observation.images.robot0_eye_in_hand": [
+      3,
+      256,
+      256
+    ],
+    "observation.state": [
+      9
+    ]
+  },
+  "kl_weight": 10.0,
+  "latent_dim": 32,
+  "n_action_steps": 20,
+  "n_decoder_layers": 1,
+  "n_encoder_layers": 4,
+  "n_heads": 8,
+  "n_obs_steps": 1,
+  "n_vae_encoder_layers": 4,
+  "output_normalization_modes": {
+    "action": "mean_std"
+  },
+  "output_shapes": {
+    "action": [
+      7
+    ]
+  },
+  "pre_norm": false,
+  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+  "replace_final_stride_with_dilation": false,
+  "temporal_ensemble_coeff": null,
+  "use_vae": true,
+  "vision_backbone": "resnet18"
+}

config.yaml

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+resume: false
+device: cuda
+use_amp: false
+seed: 1000
+dataset_repo_id: kywch/mimicgen_stack_d0
+video_backend: pyav
+training:
+  offline_steps: 100000
+  num_workers: 4
+  batch_size: 64
+  eval_freq: 10000
+  log_freq: 200
+  save_checkpoint: true
+  save_freq: 20000
+  online_steps: 0
+  online_rollout_n_episodes: 1
+  online_rollout_batch_size: 1
+  online_steps_between_rollouts: 1
+  online_sampling_ratio: 0.5
+  online_env_seed: null
+  online_buffer_capacity: null
+  online_buffer_seed_size: 0
+  do_online_rollout_async: false
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  lr: 5.0e-05
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  grad_clip_norm: 10
+  delta_timestamps:
+    action:
+    - 0.0
+    - 0.05
+    - 0.1
+    - 0.15
+    - 0.2
+    - 0.25
+    - 0.3
+    - 0.35
+    - 0.4
+    - 0.45
+    - 0.5
+    - 0.55
+    - 0.6
+    - 0.65
+    - 0.7
+    - 0.75
+    - 0.8
+    - 0.85
+    - 0.9
+    - 0.95
+eval:
+  n_episodes: 20
+  batch_size: 20
+  use_async_envs: true
+wandb:
+  enable: true
+  disable_artifact: true
+  project: lerobot
+  notes: ''
+fps: 20
+env:
+  name: mimicgen
+  task: Stack_D0
+  state_dim: 9
+  action_dim: 7
+  episode_length: 200
+  meta: stack_d0_env.json
+  image_keys:
+  - agentview
+  - robot0_eye_in_hand
+  state_keys:
+  - robot0_eef_pos
+  - robot0_eef_quat
+  - robot0_gripper_qpos
+  use_delta_action: false
+  use_highres_image_obs: true
+override_dataset_stats:
+  observation.images.agentview:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+  observation.images.robot0_eye_in_hand:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+policy:
+  name: act
+  n_obs_steps: 1
+  chunk_size: 20
+  n_action_steps: 20
+  input_shapes:
+    observation.images.agentview:
+    - 3
+    - 256
+    - 256
+    observation.images.robot0_eye_in_hand:
+    - 3
+    - 256
+    - 256
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.images.agentview: mean_std
+    observation.images.robot0_eye_in_hand: mean_std
+    observation.state: mean_std
+  output_normalization_modes:
+    action: mean_std
+  vision_backbone: resnet18
+  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+  replace_final_stride_with_dilation: false
+  pre_norm: false
+  dim_model: 512
+  n_heads: 8
+  dim_feedforward: 3200
+  feedforward_activation: relu
+  n_encoder_layers: 4
+  n_decoder_layers: 1
+  use_vae: true
+  latent_dim: 32
+  n_vae_encoder_layers: 4
+  temporal_ensemble_momentum: null
+  dropout: 0.1
+  kl_weight: 10.0

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e63847da1f4d5b394c6b67b6238608e4131b69cf818f7f400c4a21b4b71298
+size 206389844